File content as of revision 3:a2f9eb3b8a16:

#include "Task1Gps.h"

void GpsSerialTask(void) 
{/**
 *\brief TASK 1, wait for the event then get the input char
 */
 while(1)
 {
    os.WaitEvent(GPS_SERIAL_IN_EVT);
    GpsStringParse();
            
    Dest.lat= 4151.32496; // ***************debug
    Dest.lon= 1229.34; // *************debug

    GpsDist();
 }
}

void GpsSerialIsr(void) 
{/**
 *\brief Interrupt handler for serial Rx
         set the event for the serial task
 */
    char c = gps.getc();
    msgBuff[bufferSelect & 1][writePointer] = c;
    if (writePointer++ == BUFF_SIZE)
    {
        writePointer = 0;
    }
    if (writePointer > 200) 
    {// GPS input buffer full, start computing coordinates
        os.SetEvent(GPS_SERIAL_IN_EVT, GPS_SERIAL_TASK);
    }
}

void trace_h(const char *str, int str_size) 
{/**
 *\brief output on console what's received on GPS serial
          Callback function for NMEA parser buffer trace
 */
    if( PcMonitor==5 || PcMonitor>5)
    {
        for (int i = 0; i < str_size; i++)
        {
            pc.putc(*str++);
        }        
    }
}

void error_h(const char *str, int str_size) 
{/**
 *\brief Callback function for NMEA parser error
 */
    for (int i = 0; i < str_size; i++)
    {
        pc.putc(*str++);
    }    
}


double trunc(double v) 
{/**
 *\brief Return nearest integer vaule less than input
 *
 *\parameters double variable to get nearest ingeger
 *
 *\return double 
 */
    if(v < 0.0) 
    {
        v*= -1.0;
        v = floor(v);
        v*=-1.0;
    } else {
        v = floor(v);
    }
    return v;
}

void GpsStringParse(void)
{/**
 *\brief parse the GPS string to extract info
 */
    gps.attach(NULL);   // Suspend serial interrupt while buffer change
    size = writePointer;
    writePointer = 0;
    bufferSelect++;     // Change buffer
    gps.attach( &GpsSerialIsr );  // Resume serial interrupt
    nmea_parse(&parser, msgBuff[(bufferSelect-1)&1], size, &info);
    Coordinates(); // transform nmea coordinates in decimal degrees
}

void GpsDist(void)
{/**
 *\brief compute the distance and direction (forward and reverse) 
    from point A to point B on the ellipsoid
 */
  
    nmea_info2pos(&info, &Pos[0]);  // current position  
    nmea_info2pos(&Dest, &Pos[1]);  // destination 

    Path.Dist = nmea_distance_ellipsoid(&Pos[0], &Pos[1], &Path.Azimuth[1], &Path.Azimuth[0]);

    if(Path.Azimuth[0] > NMEA_PI) 
    {// reverse direction
        Path.Azimuth[0] = Path.Azimuth[0] - NMEA_PI; 
    }
    else
    {
        Path.Azimuth[1] = Path.Azimuth[1] + NMEA_PI; 
    }

    for(int i=0; i < 2; i++)
    {
        Path.Azimuth[i]=(nmea_radian2degree(Path.Azimuth[i]));
        if(Path.Azimuth[i] > 360)
        {
            Path.Azimuth[i] = Path.Azimuth[i] - 360;
        }
        if(Path.Azimuth[i] < 0)
        {
            Path.Azimuth[i] = Path.Azimuth[i] + 360;
        }
    }
}

void Coordinates(void)
{/**
 *\brief transform nmea coordinates in decimal degrees
 */
    degrees = trunc(info.lat / 100.0);
    minutes = info.lat - (degrees * 100.0);
    latitude = degrees + minutes / 60.0;
    degrees = trunc(info.lon / 100.0);
    minutes = info.lon - (degrees * 100.0);
    longitude = degrees + minutes / 60.0;
 }
  
void Deg2DegMinSec(double DecDeg, DegMinSec *DecSec)
{/**
 *\brief convert decimalDeg to Deg Min decimalSec
 */
    DecSec->Deg = trunc(DecDeg);
    double MinDec = (DecDeg - DecSec->Deg);
    DecSec->Min = trunc(MinDec * 60);
    DecSec->Sec = (MinDec * 3600) - (DecSec->Min * 60);
 }